CN-121979277-A - High-altitude wind energy capturing method and system for multi-rotor-wing tethered unmanned aerial vehicle

CN121979277ACN 121979277 ACN121979277 ACN 121979277ACN-121979277-A

Abstract

The invention discloses a high-altitude wind energy capturing method of a multi-rotor tethered unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle control. The high-altitude wind energy capturing method of the multi-rotor tethered unmanned aerial vehicle comprises the following steps of S1, preprocessing structural environment data and historical operation data, S2, performing cable regulation and control and Zhang Lifeng coupling catenary curve optimization according to structural turbulence risk analysis results, entering a working window hierarchical scheduling process, S3, adjusting an included angle between a cable and a main wind direction according to space coupling effect analysis results, entering the working window hierarchical scheduling process, S4, executing the working window hierarchical scheduling process according to risk amplification health inhibition assessment results, and S5, and constructing a risk attribution and autonomous evolution optimization mechanism based on multi-source risk quantification indexes. According to the invention, through structural turbulence risk analysis and distributed operation risk analysis and by combining risk amplification health inhibition evaluation, multistage real-time discrimination of turbulence risk, space effect and operation window risk is realized.

Inventors

YU ZHIYONG
ZHANG LIQIANG
Yao Qijia
GAO MING

Assignees

北京大工科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (10)

1. The high altitude wind energy capturing method of the multi-rotor tethered unmanned aerial vehicle is characterized by comprising the following steps of: s1, acquiring structural environment data and acquiring historical operation and maintenance data; s2, carrying out structural turbulence risk analysis on structural environment data and historical operation data, carrying out cable regulation and control and Zhang Lifeng coupling catenary curve optimization according to structural turbulence risk analysis results, and entering a hierarchical scheduling flow of an operation window; s3, carrying out space coupling effect analysis on structural environment data and historical operation data, adjusting an included angle between the cable and the main wind direction according to a space coupling effect analysis result, and entering a hierarchical scheduling flow of an operation window; S4, performing risk amplification health suppression evaluation on the structural environment data and the historical operation data, and executing a job window hierarchical scheduling flow according to the risk amplification health suppression evaluation result; S5, based on the multisource risk quantification indexes, a dynamic incentive tracing, scene plan deduction and optimal response path construction risk attribution and autonomous evolution optimization mechanism are fused.
2. The high altitude wind energy capturing method of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the method is characterized by comprising the steps of collecting structural environment data, obtaining historical operation and maintenance data, and preprocessing the structural environment data and the historical operation and maintenance data, wherein the specific process is as follows: collecting structural environment data and acquiring historical operation and maintenance data; the structural environment data comprises cable total mass, cable total length, current release length, swing amplitude data, acceleration signals, on-site wind speed data, cable diameter, material surface roughness, material elastic modulus, cable space attitude data, air density, energy capturing area data, unmanned aerial vehicle output power, ground anchor point space coordinates, unmanned aerial vehicle space coordinates, main wind direction data, cable tension values, rotor rotation speed and anchor point stress values; The historical operation data comprises historical task operation time, historical output power, historical risk event time, historical wind speed data, an included angle between a historical main projection and a main wind direction, historical cable swing data, historical turbulence energy efficiency data, historical risk event occurrence density and historical risk event duration; The method comprises the steps of carrying out multi-scale denoising and trend enhancement on acceleration signals, swing amplitude data and cable tension values through a wavelet transformation denoising algorithm, carrying out multi-dimensional feature clustering on cable tension values, anchor point stress values, rotor rotation speeds and cable space attitude data through a health feature clustering algorithm based on a K-means clustering algorithm and a density clustering algorithm, judging abnormal fluctuation modes of structural states, carrying out intelligent complementation on short-time missing and break points of historical output power, historical task operation time length, air density and on-site wind speed data through a sliding window interpolation and an index smoothing algorithm, carrying out high-risk interval positioning and score boundary extraction on historical risk event time, historical risk event occurrence density and historical wind speed data through a segmentation autoregressive and risk score dynamic threshold extraction algorithm, and carrying out standardization and normalization on structural environment data and historical operation data through a distribution standardization and linear normalization algorithm.
3. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of performing structural turbulence risk analysis on structural environment data and historical operation data is as follows: Obtaining total cable mass, total cable length, current release length, swing amplitude data, acceleration signals, field wind speed data, cable diameter, material surface roughness, material elasticity modulus, cable space attitude data, real-time local wind speed, air density, energy capture area data, unmanned aerial vehicle output power, historical task operation time length, historical output power, historical risk event time and historical wind speed data, carrying out a ratio algorithm on the total cable mass and the total cable length to obtain unit length mass, obtaining a cable length mass value through a mass length product algorithm on the unit length mass and the current release length, acquiring swing amplitude data by using a cable vibration sensor, obtaining a cable through an extreme value statistical algorithm on the swing amplitude data, acquiring acceleration signals by using an acceleration sensor, obtaining cable displacement time sequence data on the acceleration signals through an integral algorithm, extracting cable swing angle frequency from the cable displacement time sequence data through fast Fourier transformation, obtaining cable space attitude data through a plurality of point attitude sensors and laser ranging, obtaining Zhang Lifeng coupling link curve offset value by using a curve fitting algorithm on the cable space attitude data, obtaining a wind speed sliding window filter, obtaining a wind speed difference value by using a real-time sliding window, obtaining a local wind speed and energy loss and an optimal power output time difference value, calculating the optimal physical power output time difference value, carrying out calculation on the cable space attitude data and the output time space energy output time position data, carrying out a curve fitting algorithm, obtaining optimal power output time difference, calculating the optimal power output time difference, and calculating the optimal power output time, the historical risk event time obtains an energy efficiency evaluation period through spectrum analysis and a self-adaptive clustering algorithm; The method comprises the steps of multiplying a cable length quality value by the square of a cable swing amplitude and a cable swing angle frequency, multiplying the cable length quality value by one half to obtain a cable vibration energy item, multiplying a turbulence pneumatic coefficient, a Zhang Lifeng coupling catenary curve deviation value by the square of a real-time local wind speed to obtain a turbulence sagging risk item, multiplying an efficiency loss power difference value by an energy efficiency evaluation period to obtain an energy efficiency loss risk item, adding the cable vibration energy item, the turbulence sagging risk item and the energy efficiency loss risk item to be used as a risk molecule part, and dividing the risk molecule part by an optimal wind energy output value to obtain a turbulence risk value.
4. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of performing cable regulation and control and Zhang Lifeng coupling catenary curve optimization according to the structural turbulence risk analysis result and entering the operation window hierarchical scheduling process is as follows: Comparing a turbulence risk value with a turbulence risk threshold in real time, wherein the turbulence risk threshold comprises a primary risk threshold and a secondary risk threshold: When the turbulence risk value is smaller than or equal to the primary risk threshold value, the turbulence risk is judged to be low, and the operation is stable; When the turbulence risk value is larger than the primary risk threshold value and smaller than or equal to the secondary risk threshold value, judging that the turbulence risk is increased, and the potential energy efficiency loss and structural fatigue hazards are caused; And executing physical regulation measures, namely continuously lifting the mooring rope tension and tightening the tension wind coupling catenary curve, and entering a working window hierarchical scheduling process if the turbulence risk value is still greater than the secondary risk threshold after the physical regulation measures are executed.
5. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of performing the spatial coupling effect analysis on the structural environment data and the historical operation data is as follows: Obtaining a turbulence risk value, ground anchor point space coordinates, unmanned aerial vehicle space coordinates, main wind direction data, cable swing, an included angle between a historical main projection and the main wind direction, historical cable swing data and historical turbulence energy efficiency data; the space sensitive energy term is obtained by multiplying the turbulent flow risk value by the sum of a plus included angle sensitivity coefficient multiplied by the sine square term of the included angle between the main projection and the main wind direction, adding the sum of the product of the swing energy amplification coefficient and the cable swing square, and obtaining the down wind inhibition correction term by the product of a plus down wind correction coefficient and the cosine term of the included angle between the main projection and the main wind direction, and dividing the space sensitive energy term by the down wind inhibition correction term to obtain the space coupling effect value.
6. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of adjusting the included angle between the cable and the main wind direction according to the analysis result of the space coupling effect and entering the operation window hierarchical scheduling flow is as follows: comparing the spatial coupling effect value with a spatial coupling effect threshold in real time, wherein the spatial coupling effect threshold comprises a first-level effect threshold and a second-level effect threshold: When the space coupling effect value is smaller than or equal to the first-order effect threshold value, judging that the current space layout has good adaptability to the wind direction, and keeping the current anchor point, the unmanned aerial vehicle space azimuth and the cable state without active adjustment; when the space coupling effect value is larger than the first-level effect threshold value and smaller than or equal to the second-level effect threshold value, the space configuration is judged to have adverse effects, the cable release length is reduced, the tension is increased, the relative position and the height of the ground anchor point space coordinate and the unmanned aerial vehicle in the space are corrected on the premise of guaranteeing the flight path and the operation requirement, the main projection direction of the mooring line is adjusted, the main wind direction tends to be arranged in the same direction, the included angle between the cable and the main wind direction is reduced, and the main projection direction of the mooring line and the main wind direction are dynamically compliant and direction tends to be the same; When the space coupling effect value is larger than the secondary effect threshold, judging that energy efficiency loss and structural safety risk exist, executing physical regulation measures, namely switching the positions of the anchor points and the unmanned aerial vehicle, enabling the main projection of the mooring line to be aligned with the main wind direction strictly, continuously reducing the included angle between the main projection of the mooring line and the main wind direction until the included angle tends to be horizontal, tightening the cable, and entering a hierarchical scheduling flow of the operation window if the space coupling effect value is still larger than the secondary effect threshold after the physical regulation measures are executed.
7. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of performing the spatial coupling effect analysis on the structural environment data and the historical operation data is as follows: Obtaining a disturbance flow risk value, a space coupling effect value, field wind speed data, unmanned aerial vehicle output power, optimal output power, a cable tension value, swing amplitude data, a rotor wing rotating speed and an anchor point stress value, obtaining a short-time wind speed change rate through a differential algorithm on the field wind speed data, obtaining an energy efficiency loss rate through a difference normalization algorithm on the unmanned aerial vehicle output power and the optimal output power, and obtaining a structural health allowance through a health evaluation algorithm on the cable tension value, the swing amplitude data, the rotor wing rotating speed and the anchor point stress value; Adding the turbulence risk value and the space coupling effect value, multiplying the added short wind speed change rate and the added energy efficiency loss rate to obtain a risk molecular part, multiplying the structural health allowance by a historical high risk memory factor to obtain a risk denominator part, and dividing the risk molecular part by the risk denominator part to obtain a working window risk value.
8. The method for capturing high altitude wind energy of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of executing the operation window hierarchical scheduling flow according to the risk amplification health suppression evaluation result is as follows: comparing the job window risk value with the job window risk threshold value in real time, and executing a job window hierarchical scheduling process: when the risk value of the operation window is smaller than or equal to the risk threshold value of the operation window, the operation task is divided into a plurality of subtasks by adopting a dynamic programming method, the subtasks are allowed to deviate from the original path, the high energy consumption and the key tasks are preferentially distributed to the operation interval of downwind and stable airflow for execution, and the loads of the unmanned plane and the subsystem are reduced; when the working window risk value is larger than the working window risk threshold value, the working task is immediately suspended, the unmanned aerial vehicle enters a safe standby mode, the cable release length is continuously shortened, the distance between the unmanned aerial vehicle and the anchor point is shortened, the unmanned aerial vehicle is reduced to maintain the flying operation load, and early warning and reminding of manual intervention are initiated.
9. The high altitude wind energy capturing method of the multi-rotor tethered unmanned aerial vehicle according to claim 1, wherein the specific process of fusing dynamic incentive tracing, scene plan deduction and optimal response path construction risk attribution and autonomous evolution optimization mechanism based on the multi-source risk quantization index is as follows: carrying out double-disk analysis on the whole process of each high-risk triggering and abnormal adjustment based on a historical operation window risk value, a turbulence risk value, a space coupling effect value and a global risk response process, tracking the change trend of structural environment data and historical operation data, dynamically tracing, attributing core causes behind risk events, carrying out sudden wind shear of an external environment, entering a critical aging state of a structure, and carrying out accurate identification and positioning on the problems of incorrect configuration of space layout; On the basis of completing risk attribution, aiming at the identified core incentive, generating emergency response strategies comprising tension regulation and control, space anchor point adjustment, sagging curve optimization, operation window switching and task splitting rearrangement, carrying out simulation deduction and good and bad sequencing on the emergency response strategies based on structural environment data and historical operation data, quantitatively analyzing the turbulence risk change, energy efficiency improvement amplitude and structural health improvement under each emergency response strategy, preferentially selecting emergency measures with the best risk reduction effect and the smallest energy efficiency loss for implementation, creating a risk attribution and autonomous evolution optimization library, recording all strategy deduction results and emergency measure implementation effects to the risk attribution and autonomous evolution optimization library, and feeding back in real time.
10. A high altitude wind energy capturing system of a multi-rotor tethered unmanned aerial vehicle, applying a high altitude wind energy capturing method of a multi-rotor tethered unmanned aerial vehicle according to any one of claims 1-9, comprising: The system comprises an acquisition and preprocessing module, a data processing module and a data processing module, wherein the acquisition and preprocessing module is used for acquiring structural environment data and acquiring historical operation and maintenance data; the mooring line regulation and control and sagging optimization module is used for carrying out structural turbulence risk analysis on structural environment data and historical operation data, carrying out cable regulation and control and Zhang Lifeng coupling catenary curve optimization according to structural turbulence risk analysis results, and entering a working window hierarchical scheduling flow; the space layout and wind direction planning module is used for carrying out space coupling effect analysis on the structural environment data and the historical operation data, adjusting the included angle between the cable and the main wind direction according to the space coupling effect analysis result, and entering a hierarchical scheduling flow of the operation window; The operation window and avoidance operation module is used for carrying out risk amplification health suppression assessment on structural environment data and historical operation data, and executing a operation window hierarchical scheduling flow according to a risk amplification health suppression assessment result; and the risk attribution and autonomous optimization module is used for integrating dynamic incentive tracing, scene plan deduction and optimal response path construction risk attribution and autonomous evolution optimization mechanism based on the multi-source risk quantification index.

Description

High-altitude wind energy capturing method and system for multi-rotor-wing tethered unmanned aerial vehicle Technical Field The invention relates to the technical field of intelligent expressway inspection, in particular to a high-altitude wind energy capturing method and system of a multi-rotor mooring unmanned aerial vehicle. Background With the rapid development of new energy technology and intelligent unmanned aerial vehicle systems, multi-rotor tethered unmanned aerial vehicles are widely applied in the field of high altitude wind energy capture. In the prior art, a multi-rotor unmanned aerial vehicle platform is generally adopted, and the unmanned aerial vehicle is connected with a ground anchor point and an energy supply system through a flexible mooring line, so that continuous hovering and wind energy collection of the unmanned aerial vehicle in a high-altitude fixed point and a dynamic path are realized. The mooring line not only plays a role in mechanical fixation, but also integrates the functions of power transmission and data communication, so that the unmanned aerial vehicle can obtain ground continuous power supply and high-reliability information exchange, the endurance time is obviously prolonged, and the task stability is improved. For example, the invention patent publication number CN113071674a discloses a tethered unmanned aerial vehicle system comprising a plurality of pairs of rotor unmanned aerial vehicle bodies, flexible tethered lines and dedicated adapter plates. Unmanned aerial vehicle adopts the rotor group of diagonal setting, and to the uneven load when not connecting the tethered line, through setting up keysets and couple, accurate location in near specific rotor of the sagging section of tethered line realizes each rotor bearing equilibrium. The adapter plate is integrated with a plurality of electrical interfaces, the cable is elastically clamped through the hooks, the electrical connection path is optimized, and efficient power supply of the unmanned aerial vehicle and a ground power supply is supported. The system is also integrated with a lighting lamp plate, a sensor and a plurality of functional modules of the down-looking radar, the adapter plate is provided with a wire slot and a clearance hole, the arrangement requirements of different functional parts are adapted, and the safety and the space integration level of the unmanned aerial vehicle are improved. For example, the invention patent with publication number CN113619806B discloses a multifunctional tethered unmanned aerial vehicle and recovery system, comprising an unmanned aerial vehicle body, a ground recovery station, two tethered lines, a mounting assembly and a detachable electronic device. Unmanned aerial vehicle is connected with ground recycle bin through two mooring lines, realizes high-efficient power supply and stable flight, and the mounting subassembly can be followed and moored the line and remove between unmanned aerial vehicle and recycle bin, realizes that electronic equipment's mount, change and retrieve. The system designs a multi-stage electrical interface and a magnetic plug-in structure, supports connection, disconnection and safe locking of mounting equipment, integrates a guide mechanism and a hollow motor of a mounting assembly, and can realize autonomous movement and energy supply of the equipment in the air. The ground recycling station is provided with the storage cavity and the winding mechanism, so that the unmanned aerial vehicle, the mounting assembly and the electronic equipment can be conveniently stored in a concentrated mode and the cable is recycled, and the ground recycling station is widely applicable to lighting, warning and communication aerial operation scenes. The above technology has at least the following technical problems: The existing multi-rotor mooring unmanned aerial vehicle high-altitude wind energy capturing method and system mainly focus on the realization of electric connection of mooring lines, balanced bearing, movement of mounting assemblies and equipment storage engineering, can realize continuous high-altitude power supply and multi-task equipment mounting of an unmanned aerial vehicle, but generally lack systematic quantization and self-adaptive regulation and control on the pneumatic turbulence, space layout and structural health risks of the mooring lines in the high-altitude wind energy capturing process, mainly optimize structures and interfaces, and are difficult to meet the requirements of high-altitude wind energy capturing operation with high efficiency, stability and safety because the prior art has obvious short plates in the aspects of unmanned aerial vehicle energy efficiency, continuous operation and safety protection when facing complex working conditions of wind energy density fluctuation, extreme turbulence and structural fatigue. Disclosure of Invention The invention provides a high-altitude wind energy capturing method and a high-al